Vehicle comprising electronic control unit configured to control inverter by switching PWM control

A vehicle comprising:

• a motor configured to drive the vehicle;
• an inverter configured to drive the motor by switching a plurality of switching elements;
• a battery configured to exchange power with the motor via the inverter;
• a rotational position sensor configured to detect a rotational position of a rotor of the motor;
• and
• an electronic control unit configured to perform control of the inverter by switching a plurality of controls including
• i) a first PWM control of generating a first PWM signal of the plurality of switching elements by comparison of voltage commands of respective phases based on a torque command of the motor with a carrier voltage and switching the plurality of switching elements, and
• ii) a second PWM control of generating a second PWM signal of the plurality of switching elements based on a modulation factor of a voltage and a voltage phase based on the torque command and a number of pulses in a predetermined period of an electrical angle of the motor and switching the plurality of switching elements, wherein the electronic control unit is configured to limit an execution of the second PWM control when an abnormality occurs in the rotational position sensor.